ATRIAS 2.1 Handbook

ATRIAS 2.1 is the third physical realization of the ATRIAS concept of an actuated spring mass walking, running and jumping bipedal robot. ATRIAS 2.1 is designed for un-tethered, 3D walking and running over unpredictable, rough terrain while maintaining a reasonably high energy economy. Future work with this robot will be to develop and demonstrate these goals and further scientific knowledge in the field of legged locomotion. Contents General Information How to use this WikiBook Location of Parts Operating Instructions Suppliers and Manufacturers Cost of Transport Definition Technical Specifications Solid Model Specifications Motors Encoders IMU Springs Considerations Toe Cell Servicing Information Service Data Cleaning Loctite Procedure Torque Specifications Special Tools Wiring Harness Routing Disassembly Four-Bar Assembly Drive Assembly Torso Assembly Boom Assembly Assembly Four-Bar Assembly Drive Assembly Torso Assembly Boom Assembly Electrical Wiring Diagram Medulla Board Menial Board DC-DC Converter Board AMC Amplifier Breakout Board Strain Gauge Digitizer Board Trouble Shooting Motors Encoders Amplifiers Electrical Robotics Class projects 0% A __NOTOC__